Glider dive log

Faroes 14Feb08 * SG014 * Dive index * Mission links * Dive 20 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 14 HD_B 0.0099099996 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 3 HD_C 2.4896e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 20 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 4 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 202 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3893 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2380 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2170 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 250 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 29 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 187 DEVICE4 -1

T_TURN 240 CALL_WAIT 60 VBD_MAX 3559 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2540 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00159 COMPASS_DEVICE 17

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -131792.67 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 57 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 42 AH0_24V 95.400002 SEABIRD_T_G 0.0042855334

SPEED_FACTOR 1 PITCH_MAX 3363 AH0_10V 61.200001 SEABIRD_T_H 0.00062604493

RHO 1.023 C_PITCH 2340 PRESSURE_YINT -15.807375 SEABIRD_T_I 2.1829796e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.0724553e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.9956274

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET -0.69999999 SEABIRD_C_H 1.1210338

KALMAN_USE 1 PITCH_GAIN 15.5 TCM_ROLL_OFFSET 0.5 SEABIRD_C_I -0.0011134691

HD_A 0.00312 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00016706332

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 95.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15.5 SM_CC 250

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3363 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 4 PITCH_MIN 42 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00159 TCM_PITCH_OFFSET -0.69999999

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0.5

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -15.807375 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.00312 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099099996 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.4896e-05 RHO 1.023 T_GPS_CHARGE -131792.67

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 57

COMPASS_DEVICE 17 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 240

COURSE_BIAS 0 ID 14 ROLL_MAX 3893 T_TURN_SAMPINT 5

C_PITCH 2340 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2170 INT_PRESSURE_YINT 0 ROLL_MIN 202 UNCOM_BLEED 20

C_ROLL_DIVE 2380 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2540 MASS 52000 R_PORT_OVSHOOT 29 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 24 USE_ICE 0

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -9.9956274 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.1210338 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011134691 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00016706332 VBD_MAX 3559

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0042855334 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062604493 VBD_MIN 187

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.1829796e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 20 PHONE_DEVICE 16 SEABIRD_T_J 2.0724553e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 21

Pre-dive calculations and measurements:

GPS1 223826,6131.038,-301.295,40,2.0,58,-6.0 TGT_NAME ESEC_SE

_CALLS 2 TGT_LATLONG 6128.000,-342.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.255,0.020

_SM_DEPTHo 1.61 KALMAN_X 64504.6,153.4,280.3,-57851.9,2982.2

_SM_ANGLEo -60.3 KALMAN_Y -2651.8,-155.4,270.8,-2898.6,-709.2

GPS2 224856,6131.017,-300.899,8,1.6,13,-6.0 MHEAD_RNG_PITCHd_Wd 280.4,36787,-17.8,-10.000

SPEED_LIMITS 0.173,0.256 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.015152 XPDR_PINGS 1

SM_CCo 19857,6.57,0.619,0,0,1519,250.21 _24V_AH 23.5,6.113

SM_GC 2.94,0.00,0.00,6.57,0.000,0.000,0.619,37,2395,1519,-10.59,0.45,250.21 _10V_AH 10.1,2.660

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47522,951

TT8_MAMPS 0.024544 CFSIZE 254472192,251301888

HUMID 1751 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,7,0,0

TCM_TEMP 2.50 GPS 180208,042230,6130.072,-304.141,54,2.0,55,-6.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 179 107.97 SBE_CT 923 24 521.02

Roll_motor 127 134 403.44 SBE_O2 898 19 401.36

VBD_pump_during_apogee 337 1392 11052.94 WL_BB2F 490 105 1209.92

VBD_pump_during_surface 6 618 95.64 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 65 103 157.53 nil 0 0 0.00

Iridium_during_connect 79 160 299.41 nil 0 0 0.00

Iridium_during_xfer 272 223 1426.17

Transponder_ping 8 420 86.36

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.74

TT8 1733 19 346.67

LPSleep 15996 2 353.83

TT8_Active 520 19 104.15

TT8_Sampling 1429 39 574.57

TT8_CF8 816 45 377.90

TT8_Kalman 33 81 27.56

Analog_circuits 1433 12 173.69

GPS_charging 0 0 0.00

Compass 1027 26 269.84

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

27 end surface: CONTROL_FINISHED_OK

state 27 begin dive

31 -1.38 -146.6 0.0 0.0 0 93 0.00 0.00 -60.58 0.000 2 0.000 0.000 40 2387 2881

98 -1.38 -146.6 5.7 -9.4 3 120 11.20 2.67 -4.95 0.000 4 0.179 0.118 2033 3775 3139

148 -1.38 -146.6 20.2 -14.4 5 153 0.00 2.40 0.00 0.000 6 0.000 0.061 2033 2383 3139

470 -1.38 -146.6 58.7 -12.5 21 471 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2383 3140

779 -1.38 -146.6 92.1 -11.7 36 780 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2382 3140

1088 -1.38 -146.6 128.0 -11.0 51 1093 0.00 2.50 0.00 0.000 4 0.000 0.075 2033 979 3141

1133 -1.38 -146.6 133.5 -10.8 53 1137 0.00 2.42 0.00 0.000 6 0.000 0.061 2033 2381 3141

1454 -1.38 -146.6 170.5 -11.4 69 1455 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2381 3141

1763 -1.38 -146.6 206.1 -11.4 84 1767 0.00 2.50 0.00 0.000 4 0.000 0.071 2033 977 3142

1813 -1.38 -146.6 212.0 -11.9 86 1817 0.00 2.42 0.00 0.000 6 0.000 0.061 2033 2380 3141

2130 -1.38 -146.6 247.5 -11.7 101 2134 0.00 2.50 0.00 0.000 4 0.000 0.072 2033 976 3142

2163 -1.38 -146.6 251.7 -12.2 102 2168 0.00 2.42 0.00 0.000 6 0.000 0.061 2033 2380 3142

2479 -1.38 -146.6 288.2 -11.3 118 2480 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2380 3142

2788 -1.38 -146.6 322.2 -10.9 133 2789 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2380 3143

3097 -1.38 -146.6 356.5 -10.8 148 3098 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2379 3143

3406 -1.38 -146.6 389.7 -11.0 163 3408 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2379 3143

3716 -1.38 -146.6 420.3 -9.5 178 3721 0.00 2.55 0.00 0.000 4 0.000 0.081 2033 973 3143

3812 -1.38 -146.6 429.8 -9.8 182 3816 0.00 2.47 0.00 0.000 6 0.000 0.064 2033 2380 3143

4128 -1.38 -146.6 458.3 -9.1 197 4133 0.00 2.80 0.00 0.000 4 0.000 0.135 2033 3785 3143

4179 -1.38 -146.6 463.4 -9.7 199 4183 0.00 2.45 0.00 0.000 6 0.000 0.069 2033 2384 3143

4495 -1.38 -146.6 494.3 -10.3 214 4499 0.00 2.58 0.00 0.000 4 0.000 0.088 2033 974 3144

4528 -1.38 -146.6 497.8 -10.5 215 4534 0.00 2.47 0.00 0.000 6 0.000 0.064 2033 2384 3143

4845 -1.38 -146.6 528.9 -9.4 231 4846 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2384 3142

5154 -1.38 -146.6 559.0 -9.6 246 5155 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2384 3142

5464 -1.38 -146.6 588.2 -9.4 261 5465 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2385 3141

5773 -1.38 -146.6 615.9 -9.0 276 5774 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2385 3139

6082 -1.38 -146.6 644.9 -9.4 291 6083 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2384 3138

6391 -1.38 -146.6 673.1 -8.9 306 6392 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2385 3137

6701 -1.38 -146.6 699.6 -8.4 321 6705 0.00 2.55 0.00 0.000 4 0.000 0.087 2033 983 3135

6740 -1.38 -146.6 703.3 -9.1 322 6745 0.00 2.47 0.00 0.000 6 0.000 0.065 2033 2380 3135

7056 -1.38 -146.6 730.2 -8.4 338 7060 0.00 2.55 0.00 0.000 4 0.000 0.080 2033 976 3135

7089 -1.38 -146.6 733.1 -8.5 339 7094 0.00 2.50 0.00 0.000 6 0.000 0.065 2033 2387 3135

7405 -1.38 -146.6 758.7 -7.9 355 7406 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2388 3133

7714 -1.38 -146.6 783.4 -8.1 370 7718 0.00 2.55 0.00 0.000 4 0.000 0.079 2033 975 3132

7747 -1.38 -146.6 786.3 -9.0 371 7753 0.00 2.45 0.00 0.000 6 0.000 0.064 2033 2387 3132

8064 -1.38 -146.6 813.5 -8.4 387 8065 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2387 3131

8373 -1.38 -146.6 839.6 -8.4 402 8377 0.00 2.55 0.00 0.000 4 0.000 0.078 2033 974 3130

8423 -1.38 -146.6 844.1 -9.1 404 8427 0.00 2.47 0.00 0.000 6 0.000 0.064 2033 2381 3130

8739 -1.38 -146.6 871.5 -8.7 419 8740 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2382 3129

9048 -1.38 -146.6 897.6 -8.6 434 9052 0.00 2.55 0.00 0.000 4 0.000 0.077 2033 968 3129

9094 -1.38 -146.6 901.6 -9.3 436 9098 0.00 2.50 0.00 0.000 6 0.000 0.064 2033 2390 3128

9416 -1.38 -146.6 926.3 -7.7 452 9417 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2389 3127

9726 -1.38 -146.6 950.2 -7.9 467 9728 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2390 3126

10034 -1.38 -146.6 975.3 -8.3 482 10036 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2390 3125

10216 end dive: TARGET_DEPTH_EXCEEDED

state 10216 begin apogee

10224 -0.32 0.0 990.5 8.2 491 10351 1.15 0.00 122.78 1.393 6 0.110 0.000 2266 2153 2539

10352 end apogee: CONTROL_FINISHED_OK

state 10352 begin climb

10355 1.38 146.6 995.3 0.0 497 10487 1.67 2.80 122.70 1.351 4 0.071 0.105 2646 3572 1942

10759 1.42 168.7 978.2 9.0 515 10786 0.00 2.50 20.15 1.323 6 0.000 0.064 2645 2179 1853

11096 1.43 176.5 946.2 9.6 532 11110 0.00 2.72 8.38 1.182 4 0.000 0.102 2645 3573 1820

11156 1.43 176.5 939.7 10.4 534 11162 0.00 2.53 0.00 0.000 6 0.000 0.064 2645 2167 1820

11473 1.44 181.9 908.4 9.7 550 11481 0.00 0.00 6.12 1.052 6 0.000 0.000 2645 2167 1798

11781 1.44 181.9 877.4 10.2 565 11783 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2167 1798

12091 1.45 186.4 845.7 9.8 580 12102 0.00 2.65 5.65 1.016 4 0.000 0.092 2645 759 1779

12141 1.45 186.4 840.3 10.9 582 12146 0.00 2.47 0.00 0.000 6 0.000 0.060 2645 2173 1779

12457 1.45 186.7 808.6 10.0 597 12458 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2174 1778

12766 1.45 188.7 778.3 9.9 612 12767 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2174 1778

13076 1.46 195.1 748.9 9.7 627 13086 0.00 0.00 8.68 1.102 6 0.000 0.000 2645 2176 1744

13385 1.46 195.1 716.7 10.3 642 13389 0.00 2.62 0.00 0.000 4 0.000 0.086 2645 759 1744

13434 1.46 195.1 711.3 11.1 644 13439 0.00 2.47 0.00 0.000 6 0.000 0.059 2645 2172 1743

13750 1.46 195.1 679.7 10.2 659 13752 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2172 1742

14060 1.47 198.2 649.0 9.9 674 14066 0.00 0.00 4.07 0.802 6 0.000 0.000 2645 2173 1732

14369 1.48 206.3 618.9 9.6 689 14382 0.00 2.62 8.60 1.032 4 0.000 0.084 2645 761 1697

14446 1.48 206.3 610.6 10.8 692 14450 0.00 2.45 0.00 0.000 6 0.000 0.060 2645 2169 1698

14762 1.48 206.3 578.5 10.1 707 14766 0.00 2.70 0.00 0.000 4 0.000 0.109 2645 3573 1697

14848 1.49 216.9 569.7 9.5 711 14863 0.00 2.47 10.07 1.029 6 0.000 0.065 2646 2165 1655

15174 1.51 226.3 536.9 9.6 726 15186 0.10 0.00 9.12 0.989 6 0.078 0.000 2671 2165 1617

15485 1.51 226.3 504.7 10.1 741 15486 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2165 1616

15792 1.51 226.3 471.8 11.4 756 15797 0.00 2.58 0.00 0.000 4 0.000 0.089 2671 770 1616

15859 1.51 226.3 463.7 11.4 759 15864 0.00 2.45 0.00 0.000 6 0.000 0.058 2671 2176 1615

16181 1.51 226.3 431.2 10.1 775 16182 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2177 1615

16490 1.51 226.3 394.6 13.3 790 16494 0.00 2.62 0.00 0.000 4 0.000 0.104 2671 3566 1614

16556 1.51 226.3 385.9 11.0 793 16561 0.00 2.45 0.00 0.000 6 0.000 0.063 2671 2165 1614

16878 1.53 238.8 353.4 9.4 809 16898 0.00 2.75 11.35 1.007 4 0.000 0.097 2671 3572 1565

16989 1.53 238.8 340.3 13.4 814 16994 0.00 2.45 0.00 0.000 6 0.000 0.063 2671 2165 1565

17316 1.53 238.8 302.1 11.4 830 17318 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2167 1566

17626 1.53 238.8 264.5 12.2 845 17627 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2166 1566

17935 1.53 238.8 231.8 10.2 860 17939 0.00 2.50 0.00 0.000 4 0.000 0.080 2671 775 1566

17974 1.53 238.8 227.0 12.6 862 17979 0.00 2.38 0.00 0.000 6 0.000 0.056 2671 2178 1566

18301 1.53 238.8 185.5 13.6 878 18302 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2179 1567

18611 1.53 238.8 146.6 11.4 893 18615 0.00 2.53 0.00 0.000 4 0.000 0.074 2670 775 1568

18656 1.53 238.8 141.1 13.0 895 18660 0.00 2.38 0.00 0.000 6 0.000 0.056 2671 2175 1568

18978 1.53 238.8 101.6 13.0 911 18982 0.00 2.53 0.00 0.000 4 0.000 0.074 2671 764 1570

19028 1.53 238.8 94.7 14.3 913 19032 0.00 2.40 0.00 0.000 6 0.000 0.058 2671 2174 1570

19344 1.53 238.8 55.2 12.6 928 19345 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2174 1571

19654 1.53 238.8 20.1 10.5 943 19658 0.00 2.62 0.00 0.000 4 0.000 0.101 2671 3572 1572

19703 1.53 238.8 13.6 12.9 945 19708 0.00 2.42 0.00 0.000 6 0.000 0.062 2671 2161 1572

19810 end climb: SURFACE_DEPTH_REACHED

state 19811 begin surface coast

19832 end surface coast: CONTROL_FINISHED_OK

state 19832 begin surface

ID	14	HD_B	0.0099099996	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	3	HD_C	2.4896e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	20	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	4	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	202	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3893	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2380	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2170	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	250	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	29	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	187	DEVICE4	-1
T_TURN	240	CALL_WAIT	60	VBD_MAX	3559	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2540	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00159	COMPASS_DEVICE	17
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-131792.67	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	57	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	42	AH0_24V	95.400002	SEABIRD_T_G	0.0042855334
SPEED_FACTOR	1	PITCH_MAX	3363	AH0_10V	61.200001	SEABIRD_T_H	0.00062604493
RHO	1.023	C_PITCH	2340	PRESSURE_YINT	-15.807375	SEABIRD_T_I	2.1829796e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.0724553e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9956274
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	-0.69999999	SEABIRD_C_H	1.1210338
KALMAN_USE	1	PITCH_GAIN	15.5	TCM_ROLL_OFFSET	0.5	SEABIRD_C_I	-0.0011134691
HD_A	0.00312	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00016706332

GPS1	223826,6131.038,-301.295,40,2.0,58,-6.0	TGT_NAME	ESEC_SE
_CALLS	2	TGT_LATLONG	6128.000,-342.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.255,0.020
_SM_DEPTHo	1.61	KALMAN_X	64504.6,153.4,280.3,-57851.9,2982.2
_SM_ANGLEo	-60.3	KALMAN_Y	-2651.8,-155.4,270.8,-2898.6,-709.2
GPS2	224856,6131.017,-300.899,8,1.6,13,-6.0	MHEAD_RNG_PITCHd_Wd	280.4,36787,-17.8,-10.000
SPEED_LIMITS	0.173,0.256	D_GRID	990

FINISH	0.4,1.015152	XPDR_PINGS	1
SM_CCo	19857,6.57,0.619,0,0,1519,250.21	_24V_AH	23.5,6.113
SM_GC	2.94,0.00,0.00,6.57,0.000,0.000,0.619,37,2395,1519,-10.59,0.45,250.21	_10V_AH	10.1,2.660
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47522,951
TT8_MAMPS	0.024544	CFSIZE	254472192,251301888
HUMID	1751	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
TCM_TEMP	2.50	GPS	180208,042230,6130.072,-304.141,54,2.0,55,-6.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	179	107.97	SBE_CT	923	24	521.02
Roll_motor	127	134	403.44	SBE_O2	898	19	401.36
VBD_pump_during_apogee	337	1392	11052.94	WL_BB2F	490	105	1209.92
VBD_pump_during_surface	6	618	95.64	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	65	103	157.53	nil	0	0	0.00
Iridium_during_connect	79	160	299.41	nil	0	0	0.00
Iridium_during_xfer	272	223	1426.17
Transponder_ping	8	420	86.36
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.74
TT8	1733	19	346.67
LPSleep	15996	2	353.83
TT8_Active	520	19	104.15
TT8_Sampling	1429	39	574.57
TT8_CF8	816	45	377.90
TT8_Kalman	33	81	27.56
Analog_circuits	1433	12	173.69
GPS_charging	0	0	0.00
Compass	1027	26	269.84
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
27	end surface: CONTROL_FINISHED_OK
state	27	begin dive
31	-1.38	-146.6	0.0	0.0	0	93	0.00	0.00	-60.58	0.000	2	0.000	0.000	40	2387	2881
98	-1.38	-146.6	5.7	-9.4	3	120	11.20	2.67	-4.95	0.000	4	0.179	0.118	2033	3775	3139
148	-1.38	-146.6	20.2	-14.4	5	153	0.00	2.40	0.00	0.000	6	0.000	0.061	2033	2383	3139
470	-1.38	-146.6	58.7	-12.5	21	471	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2383	3140
779	-1.38	-146.6	92.1	-11.7	36	780	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2382	3140
1088	-1.38	-146.6	128.0	-11.0	51	1093	0.00	2.50	0.00	0.000	4	0.000	0.075	2033	979	3141
1133	-1.38	-146.6	133.5	-10.8	53	1137	0.00	2.42	0.00	0.000	6	0.000	0.061	2033	2381	3141
1454	-1.38	-146.6	170.5	-11.4	69	1455	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2381	3141
1763	-1.38	-146.6	206.1	-11.4	84	1767	0.00	2.50	0.00	0.000	4	0.000	0.071	2033	977	3142
1813	-1.38	-146.6	212.0	-11.9	86	1817	0.00	2.42	0.00	0.000	6	0.000	0.061	2033	2380	3141
2130	-1.38	-146.6	247.5	-11.7	101	2134	0.00	2.50	0.00	0.000	4	0.000	0.072	2033	976	3142
2163	-1.38	-146.6	251.7	-12.2	102	2168	0.00	2.42	0.00	0.000	6	0.000	0.061	2033	2380	3142
2479	-1.38	-146.6	288.2	-11.3	118	2480	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2380	3142
2788	-1.38	-146.6	322.2	-10.9	133	2789	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2380	3143
3097	-1.38	-146.6	356.5	-10.8	148	3098	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2379	3143
3406	-1.38	-146.6	389.7	-11.0	163	3408	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2379	3143
3716	-1.38	-146.6	420.3	-9.5	178	3721	0.00	2.55	0.00	0.000	4	0.000	0.081	2033	973	3143
3812	-1.38	-146.6	429.8	-9.8	182	3816	0.00	2.47	0.00	0.000	6	0.000	0.064	2033	2380	3143
4128	-1.38	-146.6	458.3	-9.1	197	4133	0.00	2.80	0.00	0.000	4	0.000	0.135	2033	3785	3143
4179	-1.38	-146.6	463.4	-9.7	199	4183	0.00	2.45	0.00	0.000	6	0.000	0.069	2033	2384	3143
4495	-1.38	-146.6	494.3	-10.3	214	4499	0.00	2.58	0.00	0.000	4	0.000	0.088	2033	974	3144
4528	-1.38	-146.6	497.8	-10.5	215	4534	0.00	2.47	0.00	0.000	6	0.000	0.064	2033	2384	3143
4845	-1.38	-146.6	528.9	-9.4	231	4846	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2384	3142
5154	-1.38	-146.6	559.0	-9.6	246	5155	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2384	3142
5464	-1.38	-146.6	588.2	-9.4	261	5465	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2385	3141
5773	-1.38	-146.6	615.9	-9.0	276	5774	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2385	3139
6082	-1.38	-146.6	644.9	-9.4	291	6083	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2384	3138
6391	-1.38	-146.6	673.1	-8.9	306	6392	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2385	3137
6701	-1.38	-146.6	699.6	-8.4	321	6705	0.00	2.55	0.00	0.000	4	0.000	0.087	2033	983	3135
6740	-1.38	-146.6	703.3	-9.1	322	6745	0.00	2.47	0.00	0.000	6	0.000	0.065	2033	2380	3135
7056	-1.38	-146.6	730.2	-8.4	338	7060	0.00	2.55	0.00	0.000	4	0.000	0.080	2033	976	3135
7089	-1.38	-146.6	733.1	-8.5	339	7094	0.00	2.50	0.00	0.000	6	0.000	0.065	2033	2387	3135
7405	-1.38	-146.6	758.7	-7.9	355	7406	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2388	3133
7714	-1.38	-146.6	783.4	-8.1	370	7718	0.00	2.55	0.00	0.000	4	0.000	0.079	2033	975	3132
7747	-1.38	-146.6	786.3	-9.0	371	7753	0.00	2.45	0.00	0.000	6	0.000	0.064	2033	2387	3132
8064	-1.38	-146.6	813.5	-8.4	387	8065	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2387	3131
8373	-1.38	-146.6	839.6	-8.4	402	8377	0.00	2.55	0.00	0.000	4	0.000	0.078	2033	974	3130
8423	-1.38	-146.6	844.1	-9.1	404	8427	0.00	2.47	0.00	0.000	6	0.000	0.064	2033	2381	3130
8739	-1.38	-146.6	871.5	-8.7	419	8740	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2382	3129
9048	-1.38	-146.6	897.6	-8.6	434	9052	0.00	2.55	0.00	0.000	4	0.000	0.077	2033	968	3129
9094	-1.38	-146.6	901.6	-9.3	436	9098	0.00	2.50	0.00	0.000	6	0.000	0.064	2033	2390	3128
9416	-1.38	-146.6	926.3	-7.7	452	9417	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2389	3127
9726	-1.38	-146.6	950.2	-7.9	467	9728	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2390	3126
10034	-1.38	-146.6	975.3	-8.3	482	10036	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2390	3125
10216	end dive: TARGET_DEPTH_EXCEEDED
state	10216	begin apogee
10224	-0.32	0.0	990.5	8.2	491	10351	1.15	0.00	122.78	1.393	6	0.110	0.000	2266	2153	2539
10352	end apogee: CONTROL_FINISHED_OK
state	10352	begin climb
10355	1.38	146.6	995.3	0.0	497	10487	1.67	2.80	122.70	1.351	4	0.071	0.105	2646	3572	1942
10759	1.42	168.7	978.2	9.0	515	10786	0.00	2.50	20.15	1.323	6	0.000	0.064	2645	2179	1853
11096	1.43	176.5	946.2	9.6	532	11110	0.00	2.72	8.38	1.182	4	0.000	0.102	2645	3573	1820
11156	1.43	176.5	939.7	10.4	534	11162	0.00	2.53	0.00	0.000	6	0.000	0.064	2645	2167	1820
11473	1.44	181.9	908.4	9.7	550	11481	0.00	0.00	6.12	1.052	6	0.000	0.000	2645	2167	1798
11781	1.44	181.9	877.4	10.2	565	11783	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2167	1798
12091	1.45	186.4	845.7	9.8	580	12102	0.00	2.65	5.65	1.016	4	0.000	0.092	2645	759	1779
12141	1.45	186.4	840.3	10.9	582	12146	0.00	2.47	0.00	0.000	6	0.000	0.060	2645	2173	1779
12457	1.45	186.7	808.6	10.0	597	12458	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2174	1778
12766	1.45	188.7	778.3	9.9	612	12767	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2174	1778
13076	1.46	195.1	748.9	9.7	627	13086	0.00	0.00	8.68	1.102	6	0.000	0.000	2645	2176	1744
13385	1.46	195.1	716.7	10.3	642	13389	0.00	2.62	0.00	0.000	4	0.000	0.086	2645	759	1744
13434	1.46	195.1	711.3	11.1	644	13439	0.00	2.47	0.00	0.000	6	0.000	0.059	2645	2172	1743
13750	1.46	195.1	679.7	10.2	659	13752	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2172	1742
14060	1.47	198.2	649.0	9.9	674	14066	0.00	0.00	4.07	0.802	6	0.000	0.000	2645	2173	1732
14369	1.48	206.3	618.9	9.6	689	14382	0.00	2.62	8.60	1.032	4	0.000	0.084	2645	761	1697
14446	1.48	206.3	610.6	10.8	692	14450	0.00	2.45	0.00	0.000	6	0.000	0.060	2645	2169	1698
14762	1.48	206.3	578.5	10.1	707	14766	0.00	2.70	0.00	0.000	4	0.000	0.109	2645	3573	1697
14848	1.49	216.9	569.7	9.5	711	14863	0.00	2.47	10.07	1.029	6	0.000	0.065	2646	2165	1655
15174	1.51	226.3	536.9	9.6	726	15186	0.10	0.00	9.12	0.989	6	0.078	0.000	2671	2165	1617
15485	1.51	226.3	504.7	10.1	741	15486	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2165	1616
15792	1.51	226.3	471.8	11.4	756	15797	0.00	2.58	0.00	0.000	4	0.000	0.089	2671	770	1616
15859	1.51	226.3	463.7	11.4	759	15864	0.00	2.45	0.00	0.000	6	0.000	0.058	2671	2176	1615
16181	1.51	226.3	431.2	10.1	775	16182	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2177	1615
16490	1.51	226.3	394.6	13.3	790	16494	0.00	2.62	0.00	0.000	4	0.000	0.104	2671	3566	1614
16556	1.51	226.3	385.9	11.0	793	16561	0.00	2.45	0.00	0.000	6	0.000	0.063	2671	2165	1614
16878	1.53	238.8	353.4	9.4	809	16898	0.00	2.75	11.35	1.007	4	0.000	0.097	2671	3572	1565
16989	1.53	238.8	340.3	13.4	814	16994	0.00	2.45	0.00	0.000	6	0.000	0.063	2671	2165	1565
17316	1.53	238.8	302.1	11.4	830	17318	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2167	1566
17626	1.53	238.8	264.5	12.2	845	17627	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2166	1566
17935	1.53	238.8	231.8	10.2	860	17939	0.00	2.50	0.00	0.000	4	0.000	0.080	2671	775	1566
17974	1.53	238.8	227.0	12.6	862	17979	0.00	2.38	0.00	0.000	6	0.000	0.056	2671	2178	1566
18301	1.53	238.8	185.5	13.6	878	18302	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2179	1567
18611	1.53	238.8	146.6	11.4	893	18615	0.00	2.53	0.00	0.000	4	0.000	0.074	2670	775	1568
18656	1.53	238.8	141.1	13.0	895	18660	0.00	2.38	0.00	0.000	6	0.000	0.056	2671	2175	1568
18978	1.53	238.8	101.6	13.0	911	18982	0.00	2.53	0.00	0.000	4	0.000	0.074	2671	764	1570
19028	1.53	238.8	94.7	14.3	913	19032	0.00	2.40	0.00	0.000	6	0.000	0.058	2671	2174	1570
19344	1.53	238.8	55.2	12.6	928	19345	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2174	1571
19654	1.53	238.8	20.1	10.5	943	19658	0.00	2.62	0.00	0.000	4	0.000	0.101	2671	3572	1572
19703	1.53	238.8	13.6	12.9	945	19708	0.00	2.42	0.00	0.000	6	0.000	0.062	2671	2161	1572
19810	end climb: SURFACE_DEPTH_REACHED
state	19811	begin surface coast
19832	end surface coast: CONTROL_FINISHED_OK
state	19832	begin surface